libcruft-util/quaternion.hpp

/*
 * This file is part of libgim.
 *
 * libgim is free software: you can redistribute it and/or modify it under the
 * terms of the GNU General Public License as published by the Free Software
 * Foundation, either version 3 of the License, or (at your option) any later
 * version.
 * 
 * libgim is distributed in the hope that it will be useful, but WITHOUT ANY
 * WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
 * details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with libgim.  If not, see <http://www.gnu.org/licenses/>.
 *
 * Copyright 2011 Danny Robson <danny@nerdcruft.net>
 */

#ifndef __UTIL_QUATERNION_HPP
#define __UTIL_QUATERNION_HPP

#include "vector.hpp"

namespace util {
    template <typename T>
    struct quaternion {
        T w, x, y, z;

        static const quaternion IDENTITY;

        static quaternion rotation (T radians, vector<3,T> axis);
        static quaternion rotation (vector<3,T> from, vector<3,T> to);

        quaternion operator* (const quaternion&) const;
    };
}


#endif